JPS62218239A - Speed controller - Google Patents

Abstract

PURPOSE:To control convergence to a desired speed so favorably, by finding the desired speed at constant speed running according to characteristics prepared for at every shift position, and permitting a constant speed running start at a time when desired opening of accelerator operation follow-up control becomes less than the desired speed equivalent opening. CONSTITUTION:Opening of a throttle valve (c) is controlled by an accelerator operation follow-up valve opening control device (e) according to the throttle valve desired opening found out of an operational device (d) on the basis of output of an accelerator manipulated variable detecting device (b). And, the opening of the throttle valve (c) is controlled by a constant speed running valve opening control device (h) on the basis of each output of a desired speed setting device (f) and a speed detecting device (g). And, an existing shift position is judged at a judging device (j) on the basis of the detected speed and an engine speed, whereby throttle valve opening equivalent to the desired speed corresponding to the judged shift position is read out of a setting device (k), and a control start of the control device (h) is permitted when the desired opening is less than the opening equivalent to the desired speed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of the Invention) The present invention relates to a vehicle speed control device that controls vehicle speed by opening and closing a throttle valve using a motor or the like, and particularly relates to vehicle speed control that follows accelerator operation and vehicle speed control. The present invention relates to a vehicle speed control device that is capable of controlling vehicle speed to maintain a constant speed.

(Background of the Invention) This type of device has been proposed in Japanese Patent Application No. 59-122724, etc., but in the conventional device, there is a shift from vehicle speed control that follows accelerator operation to vehicle speed control that maintains the vehicle speed constant. Sometimes, the vehicle speed characteristics that are controlled to converge to the target vehicle speed when the vehicle is running at a constant speed vary depending on the shift position of the transmission. Therefore, depending on the shift position of the transmission, it may not be possible to control the vehicle speed to converge to the target vehicle speed when the vehicle is running at a constant speed, even if the characteristics are good. A possible problem arose.

(Object of the invention) The present invention has been made in view of the above-mentioned conventional problems, and
The purpose of this is to control the vehicle speed to converge to the target vehicle speed when the vehicle is running at a constant speed using optimal characteristics according to the transmission shift position when transitioning from vehicle speed control that follows accelerator operation to vehicle speed control that maintains the vehicle speed constant. The purpose is to provide a control device.

(Configuration of the Invention) In order to achieve the above object, an apparatus according to the present invention is configured as shown in FIG.

In the figure, the operation amount of the accelerator operator a has already been detected by the accelerator operation amount detection means, and the target opening degree of the throttle valve C is determined by the target opening degree calculation means d based on the operation amount.

The opening degree of the throttle valve C is controlled in the direction that matches the target opening degree by the accelerator operation following valve opening control means e, and as a result, the vehicle speed is controlled to increase or decrease in accordance with the operation of the accelerator operator a. .

Further, a target vehicle speed for constant-speed vehicle running is set by constant-speed running target vehicle speed setting means f, and the running speed of the vehicle is detected by vehicle speed detecting means q.

The opening degree of the throttle valve C is controlled by the constant speed driving valve opening degree control means in a direction in which the detected vehicle speed roughly matches the target vehicle speed, and as a result, the vehicle speed is controlled to the target vehicle speed.

Here, the engine rotation speed is detected by the engine rotation speed detection means i, and the current shift position of the transmission is determined by the transmission shift position determination means j based on the detected vehicle speed and the engine rotation speed.

Further, in the throttle valve opening characteristic setting means, the target vehicle speed-throttle valve opening characteristic is set for each gear shift position of the transmission, and the target vehicle speed equivalent valve opening degree calculation means! In this example, the opening degree of the throttle valve C corresponding to the target vehicle speed is determined based on the setting characteristic corresponding to the current shift position of the transmission.

And the target f? When the f1 degree is less than or equal to the opening corresponding to the target vehicle speed, the constant speed driving start permission means m permits the constant speed driving valve opening degree control means to start control.

(Description of Embodiments) Hereinafter, preferred embodiments of the apparatus according to the present invention will be described based on the drawings.

In FIG. 2, the amount of depression of the accelerator pedal 10! is detected by the accelerator potentiometer 12, and the detection signal is supplied to the CPU 18 via the input interface 16 within the control circuit 14.

In the CPL 118, the target opening θl of the throttle valve 20 is determined based on the depression amount l of the accelerator pedal 10, and the motor control signal obtained from the target opening θl is sent to the motor driver 24 via the output interface 22.
is supplied to.

Windings 28a and 28b of a step motor 26 are energized by the motor driver 24 in accordance with a motor control signal, and as a result, the throttle valve 20 is driven to open and close by the step motor 26.

Note that the throttle valve 20 is urged in the closing direction by a return spring 30 for safety.

Further, the set switch 32 is operated when the vehicle starts traveling at a constant speed, and the traveling speed of the vehicle (vehicle speed V) is detected by the vehicle speed sensor 34.

The switching signal of the set switch 32 and the detection signal of the vehicle speed sensor 34 are supplied to the CPU 18 via the input interface 16, and in the CPLJ 18, when the set switch 32 is operated,
The detected vehicle speed V is set as the target vehicle speed Vsε for constant speed vehicle travel.

Roughly speaking, while the vehicle is running at a constant speed, the CPU 1B compares the target vehicle speed VSET and the detected vehicle speed ■, and outputs a motor control signal from the CPU 18 to open and close the throttle valve 20 in the direction in which both agree. There is.

Note that the clutch pedal is depressed by the clutch switch 36.
As a result, the brake pedal depression operation is detected by the neutral switch 40, and the transmission shift operation to the neutral position is detected by the neutral switch 40.
At 18, when any one of the operations is confirmed by these switching signals supplied via the input interface 16, control is performed to cancel the constant speed running of the vehicle.

Here, the engine rotation speed N is detected by the rotation sensor 42, and the CPU 18 detects the engine rotation speed N by the input interface 16.
The current shift position of the transmission is determined from the engine rotational speed N and vehicle speed V using the detection signal supplied via the engine and the detection signal of the heavy speed sensor 34.

Roughly speaking, the CPU 18 contains the characteristics 2 in Fig. 3 for the gear shift positions of the 1-transmission, 1st, 2nd, 3rd, 4th, and 5th.
00-1,200-2,200-3゜200-4.20
0 to 5 are stored, and the target vehicle speed VSE is determined from the one corresponding to the current shift position of the transmission.
The opening degree θV of the throttle valve 20 corresponding to T is determined by the CPU 18
is sought after. In this embodiment, each characteristic 200 is set so that the vehicle travels at a constant speed on a flat road at the target vehicle speed SET when the transmission is at the corresponding shift position and the opening degree θ of the throttle valve 20 is the opening degree θV. -1,20
0-2, 200-3, 200-4° and 200-5 are each predetermined.

Then, the opening degree θV is the target opening degree θ for the accelerator operation follow-up control! The CPU 18 monitors whether or not the opening degree θ has fallen below the opening degree θV, and when the opening degree θ falls below the opening degree θV, the vehicle starts running at a constant speed.

This embodiment has the above configuration, and its operation will be explained below.

Fig. 4 shows the processing procedure for controlling the vehicle speed following accelerator operation, and Fig. 5 shows the processing procedure for controlling the vehicle speed when the vehicle is running at a constant speed.
18 in parallel at different cycles.

In the process shown in FIG. 4, first, the amount of depression l of the accelerator pedal 10 is
is read (step 100), and the target opening degree θ°C of the throttle valve 20 is determined based on the depression amount l (step 102).

In this embodiment, the accelerator pedal is depressed within the area surrounded by the characteristics 202H and 202L in FIG. The target opening degree θl is determined according to predetermined conditions from the valve opening range of the throttle valve 20 corresponding to Result 1 with good characteristics for accelerator operation
First speed acceleration/deceleration is being performed.

Next, it is determined whether or not the vehicle is traveling at a constant speed (step 104), and when it is determined that the vehicle is not traveling at a constant speed, the target opening degree θ! The deviation of the actual opening degree θR of the throttle valve 20 from the actual opening degree θR is calculated (step 106).

A motor control signal corresponding to the deviation of the actual opening θR from the target opening θ is output (step 108), so that the vehicle speed is controlled in accordance with the depression of the accelerator pedal 10.

Note that the actual opening degree θR of the throttle valve 20 is set and detected from the feed amount of the step motor 26.

Further, if it is determined that the vehicle is running at a constant speed while the above processing is being performed (step 10
4), the target vehicle speed VS for constant speed vehicle driving
It is determined by the ET whether or not the driver requests acceleration of the vehicle by depressing the accelerator pedal 10 (step 110), and it is determined that acceleration of the vehicle is requested while the vehicle is running at a constant speed. Once done (step 110)
(affirmative determination), vehicle speed control is similarly performed in accordance with the accelerator operation (steps 106 and 108).

On the other hand, in the process shown in FIG. 5, the vehicle speed V detected by the vehicle speed sensor 34 is first read (step 112), and then it is determined whether the vehicle is traveling at a constant speed (step 114).

At this time, if it is determined that the vehicle is not running at a constant speed, it is determined whether or not the start of constant speed running of the vehicle has been commanded by operating the set switch 32 (step 116);
When the start of constant speed driving is commanded, the detected vehicle speed V at that time is stored as the target vehicle speed VS2 for constant speed driving of the vehicle (step 118).

Then, the opening degree θV of the throttle valve 20 that allows the vehicle to travel on a flat road at the target vehicle speed VSET is determined (step 120), the target opening degree θ! determined based on the insufficient amount of accelerator pedal depression! is the opening degree θV equivalent to constant running speed
Determine whether or not the target opening degree θ! is exceeded (step 122). A determination is made as to whether or not exceeds the actual opening degree θR (step 124).

At that time, if it is determined that the opening degree θ and the actual opening degree θR do not exceed the opening degree θ℃, the target vehicle speed VSET
The deviation of the current vehicle speed V from the current vehicle speed V and the amount of change in the deviation are determined (step 126), and a motor control signal corresponding to these deviations is output (step 128), and the vehicle starts running at a constant speed.

While the vehicle is running at a constant speed, it is constantly monitored whether the target opening θl exceeds both the openings θV and θR (steps 122 and 124), and it is determined that the target opening θl has not exceeded both of them. When this is done, the vehicle continues to travel at a constant speed with the target vehicle speed VSET (affirmative determination in step 114).

Roughly speaking, the clutch switch 36 determines whether or not the clutch pedal, the brake pedal, or the transmission was shifted to the neutral position while the vehicle was running at a constant speed. Brake switch 38. This is determined using the switching signal of the neutral switch 40 (step 132), and if any of these operations is confirmed, the constant speed running of the vehicle is canceled (step 134), and therefore the aforementioned accelerator operation is canceled. Vehicle speed control that follows is started again.

Further, when the target opening degree θl exceeds both the opening degree θV corresponding to the target vehicle speed and the actual opening degree θR while the vehicle is running at a constant speed (affirmative determination in steps 122 and 124), the constant speed driving target vehicle speed It is determined that an acceleration request to a vehicle speed equal to or higher than VsEr has been given through the driver's accelerator operation (step 136), and in this case, vehicle speed control that follows the accelerator operation is temporarily performed as described above. (Figure 3
Positive determination in step 110 → step 106゜10
8).

While driving at a constant speed, if vehicle speed control that follows the accelerator operation is being performed (affirmative determination at step 130), accelerate the accelerator until the target opening θl falls below the opening θV equivalent to the target vehicle speed. It is determined whether the pedal 10 has been returned and whether the actual opening degree θR has fallen below the opening degree θV corresponding to the target vehicle speed (steps 138, 140>
.

Then the target opening θ! is not less than the opening degree θV (
If the actual opening degree θR is not less than the opening degree θV (negative determination in step 140), the accelerator operation will be followed while the vehicle is at constant speed. vehicle speed control continues.

The accelerator pedal 10 is returned until the target opening θl roughly falls below the opening θV, and the throttle valve 20 reaches the opening θ.
When the vehicle is closed to V (affirmative determination in steps 138 and 140), the vehicle speed control that follows the accelerator operation during constant speed driving is canceled (step 142L, the vehicle starts driving at a constant speed again).

Here, as described above, the opening degree θV corresponding to the target vehicle speed, which is used as a reference for switching between the vehicle speed control following accelerator operation and the vehicle speed control when the vehicle is traveling at a constant speed, is determined as follows.

In FIG. 5, the opening degree θV calculation process (step 120)
First, the engine rotation speed N detected by the rotation sensor 42 is read (step 120-1), and then the current shift position of the transmission transmission is determined from the engine rotation speed N and the current vehicle speed of the read operation. (step 120
-2).

Also, the characteristics 200-1 and 20 shown in FIG.
Among 0-2, 200-3, 200-4, and 200-5, the one corresponding to the current shift position of the transmission is selected (step 120-3), and for example, in FIG. 3, characteristic 200-3 is selected. .

Roughly speaking, the target vehicle speed VsEr of the vehicle traveling at a constant speed is used and corresponds to the target vehicle speed VSET from its selection characteristics.

The opening degree θV is determined by a search calculation (step 12
0-4).

Then, as mentioned above, the opening degree θV is changed to the target opening degree θ! is below, the throttle valve 20 is closed to the opening degree θV.
The constant speed running of the vehicle is resumed on condition that the is closed (steps 138, 140, 142>).

As described above, according to the present embodiment, a plurality of target vehicle speeds 5ET-opening degree θ are provided for each shift position of the transmission.
Characteristics of V200-1,200-2゜200-3,200
-4,200-5, the one corresponding to the current gear shift position of the transmission is selected, and the opening degree θV corresponding to this is determined using the target vehicle speed VSET when the vehicle is running at a constant speed.
Roughly, the opening degree θV is the target opening degree θ determined according to the accelerator operation! Since the vehicle is permitted to start running at a constant speed when the vehicle speed is lower than 0, the vehicle speed can be controlled optimally for each shift position of the transmission at the time of transition to constant speed running.

As a result, regardless of the gear shift position of the transmission, the vehicle speed V is set to the target vehicle speed VSET for constant speed driving with good vehicle speed control characteristics.
It is possible to converge to

(Effects of the Invention) As explained above, according to the present invention, the target vehicle speed for constant speed driving is used from the characteristic prepared exclusively for each shift position of the transmission that corresponds to the current shift position. The opening degree of the throttle valve is determined, and when the target opening degree of the accelerator operation follow-up control becomes equal to or less than the opening degree corresponding to the target vehicle speed, the vehicle is allowed to start traveling at a constant speed. At the start, it is possible to control the vehicle speed to converge to the target vehicle speed for constant speed driving with good vehicle speed characteristics regardless of the shift position of the transmission.

[Brief explanation of drawings]

Fig. 1 is a diagram corresponding to claims, Fig. 2 is a block diagram showing a preferred embodiment of the device according to the present invention, Fig. 3 is an explanatory diagram of target vehicle speed-throttle valve opening characteristic, and Figs. 4 and 5 are Second
This is an explanatory diagram of the processing procedure of the CPU 18 in the figure. 10... Accelerator pedal 12... Accelerator potentiometer 14... Control circuit 20... Throttle valve 24... Motor driver 26... Step motor 32... Set switch 34... Vehicle speed sensor 42... ... Rotation sensor agent Patent attorney Shigenori Wada i;, j:)) - Mi 11' Figure 6 Procedure Uichi official book (method) % formula % 2. Name of the invention Vehicle speed control device 3. Person making the amendment Relationship to the incident Patent applicant address 2 Takaracho, Kanayō-ku, Yokohama-shi, Kanagawa Prefecture Name
(399) Nissan Motor Co., Ltd. Representative Kume
Yutaka 4, Agent ■101 Address 1-15-16-5 Uchikanda, Chiyoda-ku, Tokyo
, Date of amendment order May 27, 1986 -6
, Subject of amendment ``Brief explanation column of drawings in the specification''
X-: In IL-4, 7. Contents of amendment (1) In the 8th line of page 17 of the specification, the phrase "This is an explanatory diagram.""This is a throttle valve opening characteristic diagram."

Claims (1)

[Claims] (1) Accelerator operation amount detection means for detecting the operation amount of the accelerator operator, target opening calculation means for calculating the target opening of the throttle valve based on the operation amount of the accelerator operator, and target opening degree of the throttle valve. A valve opening control means for following an accelerator operation that controls the opening in a direction consistent with the opening; a constant speed running target vehicle speed setting means that sets a target vehicle speed for constant speed running of the vehicle; and a vehicle speed detecting means that detects the running speed of the vehicle. , a constant speed driving valve opening control means for controlling the opening of the throttle valve in a direction in which the detected vehicle speed matches the target vehicle speed, an engine rotation speed detection means for detecting the engine rotation speed, and the detected vehicle speed and the engine rotation speed. a transmission shift position determining means for determining the current shift position of the transmission based on the transmission; a throttle valve opening characteristic setting means for setting a target vehicle speed-throttle valve opening characteristic for each transmission shift position; a target vehicle speed equivalent valve opening calculating means for calculating an opening of a throttle valve corresponding to a target vehicle speed based on a setting characteristic corresponding to a current shift position of the vehicle; A vehicle speed control device comprising: constant speed travel start permission means for permitting the start of control of a constant speed travel valve opening degree control means.